void realign::realignPeriodically()
{
vector <baseType> along(vl->size());
baseType timeFirstRun;
in >> timeFirstRun;
// cout << "timeFirstRun: " << timeFirstRun << endl;
// cout << "time: " << dynNode::time << endl;
for (unsigned int i = 0; i < vl->size(); i++ )
in >>along[i];
meanVar dist = calculateDist(along);
if (counter==skip)
{
counter = 0;
out << dynNode::time << " " << setprecision(20) << dist.mean << " " << sqrt(dist.var) << endl;
cout << "vorher:" << setprecision(20) << dist.mean << " " << sqrt(dist.var) << endl;
realignNow(along, eps, dist);
meanVar newDist = calculateDist(along);
cout << "nachher:" << setprecision(20) << newDist.mean << " " << sqrt(newDist.var) << endl;
}
else
{
counter++;
out << "#" << setprecision(20) << dynNode::time << " " << dist.mean << " " << sqrt(dist.var) << endl;
}
}
void SDFRenderer::CreateSDF(bool* data) {
// check if required values are set
if (width == 0) {
return;
}
if (height == 0) {
return;
}
// allocate distance buffer
if (distances == nullptr) {
distances = new float[width * height];
} else {
// check dimensions of current buffer
if (allocatedWidth != width || allocatedHeight != height) {
delete[] distances;
distances = new float[width * height];
}
}
allocatedWidth = width;
allocatedHeight = height;
// do the magic
calculateDist(data);
clampDist();
}
inline double ColorEdge::calcDistToOtherVector(std::vector<VecDist> &vec, int num)
{
double value = 0.0;
for(int i = 0; i < vec.size(); ++i)
{
if(num != i)
{
value += calculateDist(vec[i].first, vec[num].first);
}
}
return value;
}
bool instructionToCommands(int startX, int startY, int degree, int endX, int endY, char**** commands)
{
printf("\nEntered instuctionToCommands! Parameters are:\n");
printf("startX: %d, startY: %d, degree: %d, endX: %d, endY: %d\n", startX, startY, degree, endX, endY);
bool result = false;
//Allocate the 2-D array of strings
*commands = malloc(MAX_COMMANDS * sizeof(char**));
int m, n;
for (m = 0; m < MAX_COMMANDS; m++)
{
(*commands)[m] = malloc(3 * sizeof(char*));
for (n = 0; n < 3; n++)
{
(*commands)[m][n] = malloc(INSTRUCTION_SIZE * sizeof(char));
strcpy((*commands)[m][n], "END0");
}
}
printf("MAX_COMMANDS: %d\n", MAX_COMMANDS);
//Turning Phase
int turningAngle = calculateTurn(startX, startY, endX, endY, degree);
printf("The turn angle is: %d\n", turningAngle);
//Convert -180 to 180 scale turn value to an absolute value + a direction
int direction = 0;
if (turningAngle > 0) direction = 1;
turningAngle = abs(turningAngle);
//Calculate how long the turning phase lasts
int time = round((turningAngle/15) * INTERVAL_15);
if (10 > time) time = 10;
//Add instruction: Turn sensitivity MAX, speed 32, time milliseconds
if (1 == direction) strcpy((*commands)[0][0], "81 3f"); //Right turn
else strcpy((*commands)[0][0], "81 40"); //Left turn
strcpy((*commands)[0][1], "82 1f");
sprintf((*commands)[0][2], "%d", time);
//Linear Phase
int distance = calculateDist(startX, startY, endX, endY);
printf("Distance = %d\n", distance);
//Add instruction: Turn sensitivity 0, SPEED, distance*10 milliseconds
//We're assuming here that it takes 10 milliseconds to travel 1 unit (it probably doesn't)
int trueDist = distance*10;
//This shouldn't happen (and thus we'd probably need to recalibrate the speed, as its taking >10 seconds for one movement command)
if (9999 < trueDist) trueDist = 9000;
strcpy((*commands)[1][0], "81 00");
strcpy((*commands)[1][1], "82 1f");
sprintf((*commands)[1][2], "%d", trueDist % 9999);
if (NULL != (*commands)) result = true;
printf("Exiting instructionToCommands!\n");
return result;
}
